CN110001885A - A kind of light vessel and its implementation of automatic shift - Google Patents
A kind of light vessel and its implementation of automatic shift Download PDFInfo
- Publication number
- CN110001885A CN110001885A CN201910351602.4A CN201910351602A CN110001885A CN 110001885 A CN110001885 A CN 110001885A CN 201910351602 A CN201910351602 A CN 201910351602A CN 110001885 A CN110001885 A CN 110001885A
- Authority
- CN
- China
- Prior art keywords
- ship
- control panel
- control
- contactor
- personal computer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004873 anchoring Methods 0.000 claims abstract description 51
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 37
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 32
- 238000004891 communication Methods 0.000 claims abstract description 23
- 238000013439 planning Methods 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 238000000034 method Methods 0.000 claims description 13
- 238000005192 partition Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 6
- 238000011217 control strategy Methods 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 claims description 5
- 238000004458 analytical method Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000009472 formulation Methods 0.000 claims 1
- 238000009434 installation Methods 0.000 claims 1
- 239000000203 mixture Substances 0.000 claims 1
- 230000001737 promoting effect Effects 0.000 claims 1
- 238000005183 dynamical system Methods 0.000 abstract 3
- 230000001953 sensory effect Effects 0.000 abstract 3
- 239000003643 water by type Substances 0.000 abstract 2
- 230000006870 function Effects 0.000 description 22
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000013523 data management Methods 0.000 description 3
- 238000007726 management method Methods 0.000 description 3
- 241001269238 Data Species 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 239000011324 bead Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000019771 cognition Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008713 feedback mechanism Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000009415 formwork Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B51/00—Marking of navigation route
- B63B51/02—Marking of navigation route with anchored lightships; by use of lighthouses
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
Abstract
The present invention provides a kind of light vessels of automatic shift, including the energy and dynamical system, sensory perceptual system, control system, communication system and pool anchor system；Wherein, the energy and dynamical system include solar panel, lithium battery, ship steering engine and marine propulsion；Sensory perceptual system includes GPS information, the gyro compass etc. of navigation light；Control system includes industrial personal computer, control panel and corresponding software program；Communication system includes 4G router and the communication server；Mooring anchor system includes Ship Anchoring equipment, anchor chain and ship anchor.After control system of the invention receives the instruction of communication system transmission, in conjunction with information such as positions in sensory perceptual system, path planning is carried out, drive energy and dynamical system track path, and light vessel is fixed using pool anchor system after reaching target point.Light vessel of the invention aboard ship under the conditions of nobody, to corresponding waters and can be cast anchor, and then provide the navigation channel information in the waters by remote control automatic shift.
Description
Technical field
The present invention relates to light vessel design field, the light vessel of especially a kind of automatic shift and its realization side
Method.
Background technique
The height of traffic capacity of waterway, safety guarantee and Information Service Level determines the ups and downs of shipping development, as boat
The important mark of road information, light vessel have vital influence to navigation channel and shipping.Light vessel is that one kind is provided with
The ship of navigation light is generally laid at important navigation channel, and provides the navigation channel information of position.It is fast with internal waterway
Speed development, the demand sharp increase of navigation channel factor change acquisition of information, traditional light vessel is low with the degree of automation, safety is
The disadvantages of number is low, management difficulty is big generally requires to expend a large amount of manpower and object when needing to lay navigation mark position and changing
Power lays light vessel position again.
The shortcomings that for traditional light vessel, in conjunction with current cognition technology, automatic control technology, data interaction technology etc.
Technology devises a kind of light vessel with automatic shift function.
A kind of ship navigation lamp Semi-automatic control system is disclosed in the prior art, application No. is: 201210392072.6
, the applying date are as follows: the Chinese patent of 2012-10-16, the ship navigation lamp Semi-automatic control system belong to lighting apparatus skill peculiar to vessel
Art field, including signal lamp, CPU, indicator light and control panel.One group is provided on the control panel to connect with cpu signal
To control the finger lamp key of corresponding signal lamp, the CPU is connected with the first Output Shift Register and the second output displacement is posted
Storage, first Output Shift Register are connected in parallel by individual power circuit block with signal lamp, the power supply electricity
Road module is also connected with power detection module, and the power detection module is connect with CPU, second Output Shift Register with
Indicator light parallel connection.When this system works, even if there is some naval light to break down cisco unity malfunction, system can be from
It is dynamic to be switched to its corresponding stand-by lamp, it is ensured that the safe navigation of ship improves the reliability of system.The patent can not be real
The automatic shift of existing light vessel, and technical solution and this patent be not identical.
Summary of the invention
To solve the disadvantages of current light vessel the degree of automation is low, safety coefficient is low, management difficulty is big, the present invention is provided
The light vessel and its implementation of a kind of automatic shift.
The present invention using following scheme realize: a kind of light vessel of automatic shift, including hull, industrial personal computer, control panel,
Solar panel, lithium battery, compass, 4G router, marine propeller, ship steering engine, inverter, Ship Anchoring equipment, boat
Beacon light and relay；There are two cabin partitions for setting in the hull, and two cabin partitions are by hull interior from bow to ship
Tail is in turn divided into three cabins, and the lithium battery is installed in first cabin, the industrial personal computer, 4G router, control panel
And relay is installed in second cabin, the marine propeller, ship steering engine, inverter, Ship Anchoring equipment are installed on
In third cabin, Hall sensor being installed in the Ship Anchoring equipment, the navigation light is mounted on lamp bracket, lamp bracket,
Compass and solar panel are mounted on hull surface；The industrial personal computer is connect with control panel, the compass, marine propeller,
Ship steering engine, inverter are connect through relay with the control panel, and the 4G router, navigation light are connect with the control panel,
The Ship Anchoring equipment is connect with the inverter.
Further, the solar panel is connected with a charge-discharge circuit, the lithium battery and charge and discharge electricity
Road connection.
Further, the industrial personal computer for Data Management Analysis, ship path planning and formulates navigation control strategy；Institute
State control panel for obtain three axial rake of ship, GPS positioning and stem to ship status information, and control relay on-off
And execute the control command that industrial personal computer issues；The solar panel is for collecting solar energy and charging for lithium battery；It is described
Lithium battery is that the equipment on ship is directly or indirectly powered；The compass is for acquiring three axial rake of ship and stem to data；
The 4G router for receive bank end control information and be sent to industrial personal computer, in real time with the communication server at bank end carry out
Communication function；The marine propeller is moved for propelling ship；The ship steering engine is for keeping boat in ship motion process
To or change course；The inverter is used to convert voltage required for Ship Anchoring equipment for lithium battery voltage；The ship
Oceangoing ship anchoring and mooring system is used to fix the position of ship；The navigation light is for providing GPS position information and navigation channel information；The relay
Device is used to control the on-off of each contactor；The Hall sensor is used to acquire the angle of the Ship Anchoring equipment of ship anchoring and mooring system
Degree, and feed data back to control panel.
Further, the industrial personal computer starts control line, RS232 Serial Port Line and institute by industrial personal computer power line, industrial personal computer
State control panel connection；The control panel is connect by lithium battery 12V power supply output line and CAN bus with lithium battery；The lithium electricity
The contactor one of pond and relay connection, for providing 48V power supply；The contactor one of the relay and the direct phase of inverter
Even, the contactor two and three of relay turns 24V and 48V by 48V respectively and turns the power module of 5V to marine propeller and ship
Steering engine power supply；The contactor four of the relay is powered by the power module that 48V turns 12V to compass；The control panel passes through
Coil control line one, coil control line two, coil control line three, coil control line four respectively with the contactor of relay one, connect
Tentaculum two, contactor three, contactor four connect；The power supply output line of the inverter and the power input of Ship Anchoring equipment
It is connected；The feedback signal and control of the Hall sensor, the GPS antenna of navigation light, ship steering engine and 4G router 4G network interface card
The signal acquisition port of plate is connected.
In addition, the present invention provides a kind of implementation method of the light vessel of automatic shift, the implementation method includes as follows
Step: step S1, Terminal Server Client inputs and determines waypoint position, is sent to control through 4G network by the bank end communication server
Making sheet, control panel open the contactor four of relay and start inverter, and ship anchor is packed up in the reversion of Ship Anchoring equipment, and Hall passes
The angle of sensor detection Ship Anchoring equipment rotation is simultaneously sent to control panel, reaches a set angle when Ship Anchoring equipment rotates
For the moment, control panel disconnects contactor four, and light vessel can enter operational configuration；
Step S2, control panel receives two/contactor of contactor three of unlatching relay after the order that industrial personal computer is sent, and makes ship
Propeller is in standby with ship steering engine, opens the contactor four of relay, acquires stem in real time using compass to angle；
Step S3, control panel acquires and parses the navigation light GPS information at current time and the stem of compass to angle, passes through
Aiming spot, current location and stem are sent to industrial personal computer to angle information by RS232 serial ports；
Step S4, industrial personal computer utilizes the real-time planning path of LOS navigation algorithm, controls tracking course using pid control algorithm, will control
Information processed is converted into message and is sent to control panel；
Step S5, control panel analytic message information, and generate corresponding PWM wave and industry control is executed to ship steering engine and marine propeller
The instruction that machine is sent, meanwhile, control panel push light vessel real-time status per second is to industrial personal computer, and industrial personal computer is according to real-time status tune
The whole control to light vessel；
Step S6, when light vessel is up near aiming spot, control panel is opened the contactor four of relay and is started
Ship anchor is put down in inverter, the rotating forward of Ship Anchoring equipment, and Hall sensor detects the angle of Ship Anchoring equipment rotation and transmission
To control panel, when Ship Anchoring equipment, which rotates, reaches set angle two, control panel disconnects the contactor of all relays, ship anchor
Light vessel is fixed on aiming spot.
The beneficial effects of the present invention are: 1. present invention devise a kind of light vessel of automatic shift, which carries
Navigation light can provide important leverage for large ship safe navigation, can be by long-range distant when channel lights position needs to adjust
Control makes it reach specified place, to save the resources such as a large amount of human and material resources, while strengthening the management of light vessel.
2, the power source of light vessel of the invention is solar energy, and solar battery converts solar energy into chemical energy simultaneously
For lithium battery charging, ship does not depend on external power supply.Simultaneously using devices such as automatic anchor machines, the automatic of light vessel is improved
Change level, ensures the safety and reliability of navigation.
Detailed description of the invention
Fig. 1 is the light vessel structural schematic diagram of the embodiment of the present invention.
Fig. 2 is the light vessel control system architecture figure of the embodiment of the present invention.
Fig. 3 is the light vessel system connection block diagram of the embodiment of the present invention.
Fig. 4 is the control panel Embedded Software Design block diagram of the light vessel of the embodiment of the present invention.
Fig. 5 is the control system key data stream block diagram of the light vessel of the embodiment of the present invention.
Description of symbols: 1- hull, 2- industrial personal computer, 3- control panel, 4- solar panel, 5- lithium battery, 6- compass,
7-4G router, the cabin 8- partition, 9- marine propeller, 10- ship steering engine, 11- inverter, 12- Ship Anchoring equipment, 13-
Navigation light, 14- relay, 15- Hall sensor, 21- industrial personal computer power line, 22- industrial personal computer starting control line, 23-RS232 string
Mouth line, 24- lithium battery 12V power supply output line, 25-CAN bus, 26- coil control line one, 27- coil control line two, 28- line
Enclose control line three, 29- coil control line four, 30- steering engine control line, the input of 31-4G network interface card signal, 32- lithium battery 48V power supply
Line, 33- lithium battery 48V power supply line, 34- lithium battery 48V power supply line, one power supply output line of 35- contactor, 36- contactor two/tri-
Power supply output line, four power supply output line of 37- contactor, 38-GPS antenna, 39- rudder angle position signal input line, 40- hall sensing
Device surveys electric current input line, 41- stop button input line；1. unmanned boat current working status；2. unmanned boat current location, posture and
Ambient enviroment；3. unmanned boat navigation control；4. parameter and path is arranged in unmanned boat；5. unmanned boat control command；6. unmanned boat hand
Dynamic operational order；7. unmanned boat historical track records.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing.
The present invention provides a kind of light vessel of automatic shift, and the overall structure of the light vessel is as shown in Figure 1, this implementation
Industrial personal computer is mainly responsible for Data Management Analysis, path planning and formulates navigation control strategy in example.Windows is installed on industrial personal computer
Operating system develops unmanned mobile platform navigation control system, the major function of the system are as follows: 1) on Windows platform
With manual, automatic operation mode, manual operation mode is higher than automatic operation mode priority.2) have the function of planning path,
Automatic running that can be autonomous according to the independent in path of planning, paths planning method are simple to operation.3) movement can be automatically stored
The relevant informations such as path, voltage, failure.4) there are breakpoint succession work functions.Control panel is controlled for power supply, voltage analog
Acquisition, voltage analog output execute the control command that industrial personal computer issues.Major function are as follows: 1) obtain three-dimensional acceleration and
Three axial rake of ship.2) GPS positioning is obtained, positioning accuracy error is no more than 5m, and timing reports ship current location, speed automatically
Etc. related datas.3) obtain bow to.4) propeller and a steering engine job are controlled or is stopped, propeller uses 0 to 5V
Output control propeller working speed, steering engine are controlled using the PWM duty cycle of 5V.5) ship is reported according to present speed timing automatically
The related datas such as oceangoing ship current location and cell voltage.6) small power consumption has standby and two working conditions of work.7) steering engine position
And Hall sensor position feedback (0-10V Voltage Feedback).4G router have in real time with server communication function on the bank.This reality
It applies lithium battery in example and is configured to DC48V, 600Ah.Communication interface with CAN type can obtain the real-time voltage and work of battery
Make state.Inverter supports three phase variable frequency 2.2kW.Propeller is using the 1KW propeller (0 to 5V control) of 1 DC48V and 1
Steering engine direction controlling (PWM of 5V is controlled).Controlling terminal in the present embodiment is plate, mobile phone or computer, has connection because of spy
Net function (passes through mobile network), the major function of corresponding software are as follows: 1) passes through network and system platform communication function.2) remote
Journey checks unmanned mobile platform working condition.3) remote setting planning path, parameter setting function.4) long-range control is unmanned mobile
Platform.
It please refers to shown in Fig. 1 to Fig. 5, a kind of light vessel of automatic shift of the embodiment of the present invention, including hull 1, work
It is control machine 2, control panel 3, solar panel 4, lithium battery 5, compass 6,4G router 7, marine propeller 9, ship steering engine 10, inverse
Become device 11, Ship Anchoring equipment 12, navigation light 13 and relay 14；Cabin partition 8 there are two settings in the hull, two
Hull interior is in turn divided into three cabins from bow to stern by a cabin partition, and the lithium battery 5 is installed on first cabin
Interior, the industrial personal computer 2,4G router 7, control panel 3 and relay 14 are installed in second cabin, the marine propeller
9, ship steering engine 10, inverter 11, Ship Anchoring equipment 12 are installed in third cabin, are pacified in the Ship Anchoring equipment 12
Equipped with Hall sensor 15, the navigation light 13 is mounted on lamp bracket, and lamp bracket, compass 6 and solar panel 4 are mounted on hull
1 surface；The industrial personal computer 2 is connect with control panel 3, the compass 6, marine propeller 9, ship steering engine 10, inverter 11 through after
Electric appliance 14 is connect with the control panel 3, and the 4G router, navigation light are connect with the control panel, the Ship Anchoring equipment
It is connect with the inverter.
In the present invention, the solar panel is connected with a charge-discharge circuit (not shown), the lithium battery and institute
State charge-discharge circuit connection.In this way solar panel convert solar energy into electrical energy after by charge-discharge circuit be lithium battery into
Row charging, lithium battery are discharged when providing power supply for light vessel by charge-discharge circuit.
The industrial personal computer 2 is for Data Management Analysis, ship path planning and formulates navigation control strategy；The control panel
3 for obtain three axial rake of ship, GPS positioning and stem to ship status information, and control relay on-off and execution
The control command that industrial personal computer issues；The solar panel 4 is for collecting solar energy and charging for lithium battery；The lithium battery
5 directly or indirectly power for the equipment on ship；The compass 6 is for acquiring three axial rake of ship and stem to data；It is described
4G router 7 is for receiving bank end control information and being sent to industrial personal computer, led to the communication server in real time with bank end
Communication function；The marine propeller 9 is moved for propelling ship；The ship steering engine 10 is for keeping boat in ship motion process
To or change course；The inverter 11 is used to convert voltage required for Ship Anchoring equipment for lithium battery voltage；It is described
Ship Anchoring equipment 12 is used to fix the position of ship；The navigation light 13 is for providing GPS position information and navigation channel information；Institute
Relay 14 is stated for controlling the on-off of each contactor；The Hall sensor 15 is used to acquire the ship anchor of ship anchoring and mooring system
The angle of equipment is moored, and feeds data back to control panel.
The industrial personal computer 2 by industrial personal computer power line 21, industrial personal computer start control line 22, RS232 Serial Port Line 23 with it is described
Control panel 3 connects；The control panel 3 is connect by lithium battery 12V power supply output line 24 and CAN bus 25 with lithium battery 5；It is described
Lithium battery 5 is connect with the contactor one of relay 14, for providing 48V power supply；The contactor one and inverter of the relay
It is connected directly, the contactor two and three of relay turns 24V and 48V by 48V respectively and turns the power module of 5V to marine propeller
It powers with ship steering engine；The contactor four of the relay is powered by the power module that 48V turns 12V to compass；The control
Plate by coil control line 1, coil control line 2 27, coil control line 3 28, coil control line 4 29 respectively with relay
Contactor one, contactor two, contactor three, contactor four connect；The power supply output line of the inverter is set with Ship Anchoring
Standby power input is connected；The Hall sensor, the GPS antenna of navigation light, ship steering engine and 4G router 4G network interface card
Feedback signal is connected with the signal acquisition port of control panel.
In addition, the present invention provides a kind of implementation method of the light vessel of automatic shift, the implementation method includes as follows
Step: step S1, Terminal Server Client inputs and determines waypoint position, is sent to control through 4G network by the bank end communication server
Making sheet, control panel open the contactor four of relay and start inverter, and ship anchor is packed up in the reversion of Ship Anchoring equipment, and Hall passes
The angle of sensor detection Ship Anchoring equipment rotation is simultaneously sent to control panel, reaches a set angle when Ship Anchoring equipment rotates
For the moment, control panel disconnects contactor four, and light vessel can enter operational configuration；
Step S2, control panel receives two/contactor of contactor three of unlatching relay after the order that industrial personal computer is sent, and makes ship
Propeller is in standby with ship steering engine, opens the contactor four of relay, acquires stem in real time using compass to angle；
Step S3, control panel acquires and parses the navigation light GPS information at current time and the stem of compass to angle, passes through
Aiming spot, current location and stem are sent to industrial personal computer to angle information by RS232 serial ports；
Step S4, industrial personal computer utilizes the real-time planning path of LOS navigation algorithm, controls tracking course using pid control algorithm, will control
Information processed is converted into message and is sent to control panel；Wherein, LOS navigation is the basic principle is that according to the position of current point and target point
It sets, calculates current point at a distance from target point and direction to provide the control strategy of controller is widely used in drive lacking ship
In the path trace of oceangoing ship；The LOS navigation algorithm may refer to existing literature " the underactuated surface vessel sliding formwork control based on LOS navigation
System ", comes from Central South University's journal (natural science edition).Pid control algorithm is the control based on control loop feedback mechanism
Algorithm, herein using the position and direction error of the LOS actual point navigated and target point, in conjunction with the handling of ship,
According to the control effect of steering engine and propeller, the distance for needing to advance and direction are obtained, implements control；The pid control algorithm
It has been the prior art, herein without being described in detail.
Step S5, control panel analytic message information, and generate corresponding PWM wave and ship steering engine and marine propeller are executed
The instruction that industrial personal computer is sent, meanwhile, control panel push light vessel real-time status per second is to industrial personal computer, and industrial personal computer is according to real-time shape
State adjusts the control to light vessel；
Step S6, when light vessel is up near aiming spot, control panel is opened the contactor four of relay and is started
Ship anchor is put down in inverter, the rotating forward of Ship Anchoring equipment, and Hall sensor detects the angle of Ship Anchoring equipment rotation and transmission
To control panel, when Ship Anchoring equipment, which rotates, reaches set angle two, control panel disconnects the contactor of all relays, ship anchor
Light vessel is fixed on aiming spot.
Wherein, the master chip of control panel selects STM32F407VET6.The chip has 144 pins, and chip has
The SRAM (actual needs about 32k) of the flash of 512kbytes (actual needs about 360kbytes), 64kbytes, 3 SPI mouthfuls,
5 USART mouthfuls, CPU maximum operating frequency is 162MHz.- 40 °C to+85 °C of operating temperature of temperature range, voltage 2.0V is extremely
3.6V, and possess the requirement that a series of battery saving mode guarantees low-power consumption application.RS485 interface uses MAX3485, interface protection
Select SMBJ7.5CA and common mode inductance protection.RS232 interface uses MAX3232, and interface protection selects MBJ15CA and magnetic bead to protect
Shield.DC-DC module uses LM2596DC-DC module that 12V is down to 5V as system power supply.Contactless contactor uses No. 4 contactors
Using ZJ100D/12V, while using 2N7002 and IRF540NS driving coil.PWM module STM32 has DAC module output 0
To 3.3V voltage output, using push-pull circuit realization 0 to 5V voltage output.Industrial personal computer power and switch control use 2N7002
Drive the circuit output of PMOS tube IRF540NPBF control 12V.It is protected simultaneously using TVS SMBJ5A.Industrial personal computer switch control
Using 2N7002 open-drain output, when control will control signal shorts to ground.The exchange side that rectification module acquires Hall sensor
Wave signal is converted to direct current signal.In the present embodiment industrial personal computer select band the external interfaces such as serial ports, gigabit network interface, USB, i3 and
The above processor, 4G and the above memory, 64G and the above SSD.
The control panel Embedded Software Design block diagram of the light vessel of the embodiment of the present invention is as shown in Figure 4.The navigation light
The embedded software of ship can be divided into driving layer, protocol layer, application layer by function.According to module be divided into system initialization module,
Serial communication modular, FLASH drive module, ethernet communication module, timer module, A/D module, D/A module, GPIO module,
GPS module, intermediary interface module, upper-layer service module etc..Wherein, system initialization module in layer is driven to be mainly responsible for chip
Clock is configured, and IO initialization, initialization of (a) serial ports, Ethernet initialization, timer initialization and FLASH is called to drive
The initialization functions such as dynamic initialization, AD initialization, DA initialization.Serial communication modular is responsible for initializing control panel and industrial personal computer connects
Serial ports, RS485 serial ports are connect, and provides the calling interface of serial ports to other modules, including send single byte, multibyte is sent, connects
Receive the function interfaces such as interruption.I2C module uses IO analogue I2C bus, is responsible for the initialization IO that uses of I2C, and to other I2C devices
Part driving provides I2C read-write interface function.The major function of ethernet communication module is control ethernet communication, is responsible for initialization
The IO and configuration PHY chip interface that ethernet feature is used.The major function of A/D module is responsible for initializing what AD function can be used
IO, and voltage acquisition interface is provided.The major function of D/A module is responsible for initializing the IO that DA function can be used, and it is defeated to provide voltage
Outgoing interface.GPS module is responsible for parsing GPS message and carries out data filtering in protocol layer, obtain light vessel longitude and latitude, speed,
The information such as time.GSM short message processing module is responsible for generating GSM short message and receives parsing GSM short message order.In application layer
Data timing acquisition module be responsible for periodically invoked I2C interface, RS485 interface, A D interface etc. acquisition acceleration, angular speed,
The information such as electronic compass data, voltage value.Service interaction module is responsible for reporting light vessel number to industrial personal computer/server timing
It maintained according to, heartbeat, receive and order is carried out the function such as to respond.Communications status monitoring module timing monitoring GPS, serial ports etc. are each
The communications status of a correspondence with foreign country module, and carry out abnormality processing.
The control system key data stream block diagram of the light vessel of the present embodiment is as shown in Figure 5.Light vessel need into
When row automatic shift, carry out as follows:
S1, it is inputted by client and is determined waypoint position, control panel is sent to by 4G network, control panel opens relay
Contactor four simultaneously starts inverter, and ship anchor is packed up in the reversion of Ship Anchoring equipment, and Hall sensor detects Ship Anchoring equipment and turns
Dynamic angle is simultaneously sent to control panel, and when the rotation of Ship Anchoring equipment reaches certain angle, control panel disconnects contactor four,
Light vessel can enter operational configuration.
S2, control panel receive the contactor two/tri- of unlatching relay after the order that industrial personal computer is sent, and make marine propeller
Be in standby with ship steering engine, open the contactor four of relay, acquired in real time using compass stem to.
S3, control panel acquire and parse the navigation light GPS information at current time and the stem of compass to angle, pass through
RS232 serial ports by aiming spot, current location stem to etc. information be sent to industrial personal computer.
S4, control panel input real time position, destination path point, the real-time speed of a ship or plane and the target speed of a ship or plane industrial personal computer into industrial personal computer,
Industrial personal computer utilizes the real-time planning path of LOS navigation algorithm in the present embodiment, is calculated according to the position of Real-time Feedback and destination path
The target stem for needing to track in real time to angle (abbreviation stem to, be angle of the ship bow relative to due north, value 0 ~
360 °), be based on (fuzzy) PID control propeller and ship steering engine, the rotary speed instruction and ship steering engine for exporting propeller instruct to
In control panel, realize to target stem to tracking, and then trace into destination path.It is adjusted simultaneously according to the speed of a ship or plane of Real-time Feedback
Revolution speed of propeller is maintained within the scope of the target speed of a ship or plane using PID control ship's speed.
S5, control panel analytic message information, and generate corresponding PWM wave and industry control is executed to ship steering engine and marine propeller
The instruction that machine is sent.Meanwhile control panel push unmanned boat real-time status per second, to industrial personal computer, industrial personal computer is according to the data point reuse pair
The control of light vessel
S6, shortly when being up near designated position, the contactor four that control panel opens relay simultaneously starts inverter, ship anchor
Ship anchor is put down in pool equipment rotating forward, and the angle of Hall sensor detection Ship Anchoring equipment rotation is simultaneously sent to control panel, works as ship
When the rotation of oceangoing ship anchoring and mooring system reaches certain angle, control panel disconnects the contactor of all relays, and ship anchor can be by light vessel
It is fixed on designated position.
Above embodiments are merely to illustrate design philosophy and feature of the invention, and its object is to make technology in the art
Personnel can understand the content of the present invention and implement it accordingly, and protection scope of the present invention is not limited to the above embodiments.So it is all according to
It is within the scope of the present invention according to equivalent variations made by disclosed principle, mentality of designing or modification.
Claims (5)
1. a kind of light vessel of automatic shift, it is characterised in that: including hull, industrial personal computer, control panel, solar panel,
Lithium battery, compass, 4G router, marine propeller, ship steering engine, inverter, Ship Anchoring equipment, navigation light and relay
Device；There are two cabin partitions, two cabin partitions to be in turn divided into hull interior from bow to stern for setting in the hull
Three cabins, the lithium battery are installed in first cabin, the industrial personal computer, 4G router, control panel and relay installation
In in second cabin, the marine propeller, ship steering engine, inverter, Ship Anchoring equipment are installed in third cabin,
Hall sensor is installed, the navigation light is mounted on lamp bracket, lamp bracket, compass and solar-electricity in the Ship Anchoring equipment
Pond plate is mounted on hull surface；The industrial personal computer is connect with control panel, the compass, marine propeller, ship steering engine, inverter
It is connect through relay with the control panel, the 4G router, navigation light are connect with the control panel, the Ship Anchoring equipment
It is connect with the inverter.
2. a kind of light vessel of automatic shift according to claim 1, it is characterised in that: the solar panel connects
It is connected to a charge-discharge circuit, the lithium battery is connect with the charge-discharge circuit.
3. a kind of light vessel of automatic shift according to claim 1, it is characterised in that: the industrial personal computer is used for data
Processing analysis, ship path planning and formulation navigation control strategy；The control panel is fixed for obtaining three axial rake of ship, GPS
Position and stem to ship status information, and control relay on-off and execute the control command that industrial personal computer issues；It is described too
Positive energy solar panel is for collecting solar energy and charging for lithium battery；The lithium battery is that the equipment on ship directly or indirectly supplies
Electricity；The compass is for acquiring three axial rake of ship and stem to data；The 4G router is for receiving bank end control information
And be sent to industrial personal computer, in real time with the communication server at bank end carry out communication function；The marine propeller is for promoting
Ship movement；The ship steering engine is for going as course or changing course in ship motion process；The inverter is used for lithium
Cell voltage is converted into voltage required for Ship Anchoring equipment；The Ship Anchoring equipment is used to fix the position of ship；Institute
Navigation light is stated for providing GPS position information and navigation channel information；The relay is used to control the on-off of each contactor；It is described suddenly
Your sensor is used to acquire the angle of the Ship Anchoring equipment of ship anchoring and mooring system, and feeds data back to control panel.
4. a kind of light vessel of automatic shift according to claim 1, it is characterised in that: the industrial personal computer passes through industry control
Electromechanical source line, industrial personal computer starting control line, RS232 Serial Port Line are connect with the control panel；The control panel passes through lithium battery
12V power supply output line and CAN bus are connect with lithium battery；The contactor one of the lithium battery and relay connection, for providing
48V power supply；Contactor one and the inverter of the relay are connected directly, and the contactor two and three of relay passes through 48V respectively
Turn 24V and 48V and turns the power module of 5V to marine propeller and ship steering engine power supply；The contactor four of the relay passes through
The power module that 48V turns 12V is powered to compass；The control panel passes through coil control line one, coil control line two, coil control
Line three, coil control line four are connect with the contactor of relay one, contactor two, contactor three, contactor four respectively；It is described inverse
The power supply output line for becoming device is connected with the power input of Ship Anchoring equipment；GPS days of the Hall sensor, navigation light
The feedback signal of line, ship steering engine and 4G router 4G network interface card is connected with the signal acquisition port of control panel.
5. a kind of implementation method of the light vessel of automatic shift, it is characterised in that: the implementation method is using claim 4
Light vessel, the implementation method include the following steps: that step S1, Terminal Server Client input and determine waypoint position, pass through
The bank end communication server is sent to control panel through 4G network, and control panel opens the contactor four of relay and starts inverter, ship
Ship anchor is packed up in the reversion of oceangoing ship anchoring and mooring system, and the angle of Hall sensor detection Ship Anchoring equipment rotation is simultaneously sent to control panel,
A set angle is reached for the moment when Ship Anchoring equipment rotates, and control panel disconnects contactor four, and light vessel can enter navigation
State；
Step S2, control panel receives two/contactor of contactor three of unlatching relay after the order that industrial personal computer is sent, and makes ship
Propeller is in standby with ship steering engine, opens the contactor four of relay, acquires stem in real time using compass to angle；
Step S3, control panel acquires and parses the navigation light GPS information at current time and the stem of compass to angle, passes through
Aiming spot, current location and stem are sent to industrial personal computer to angle information by RS232 serial ports；
Step S4, industrial personal computer utilizes the real-time planning path of LOS navigation algorithm, controls tracking course using pid control algorithm, will control
Information processed is converted into message and is sent to control panel；
Step S5, control panel analytic message information, and generate corresponding PWM wave and industry control is executed to ship steering engine and marine propeller
The instruction that machine is sent, meanwhile, control panel push light vessel real-time status per second is to industrial personal computer, and industrial personal computer is according to real-time status tune
The whole control to light vessel；
Step S6, when light vessel is up near aiming spot, control panel is opened the contactor four of relay and is started
Ship anchor is put down in inverter, the rotating forward of Ship Anchoring equipment, and Hall sensor detects the angle of Ship Anchoring equipment rotation and transmission
To control panel, when Ship Anchoring equipment, which rotates, reaches set angle two, control panel disconnects the contactor of all relays, ship anchor
Light vessel is fixed on aiming spot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910351602.4A CN110001885A (en) | 2019-04-28 | 2019-04-28 | A kind of light vessel and its implementation of automatic shift |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910351602.4A CN110001885A (en) | 2019-04-28 | 2019-04-28 | A kind of light vessel and its implementation of automatic shift |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110001885A true CN110001885A (en) | 2019-07-12 |
Family
ID=67174929
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910351602.4A Pending CN110001885A (en) | 2019-04-28 | 2019-04-28 | A kind of light vessel and its implementation of automatic shift |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110001885A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114488885A (en) * | 2022-01-12 | 2022-05-13 | 武汉理工大学 | Remote control system and method for ship deck equipment |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102501951A (en) * | 2011-10-28 | 2012-06-20 | 中国船舶重工集团公司第七一〇研究所 | Indicating navigation mark capable of automatically collecting, releasing and tying mooring rope along with changes of water level |
| CN202966600U (en) * | 2012-11-27 | 2013-06-05 | 深圳市顶创科技开发有限公司 | Intelligent cruising monitoring robot buoy |
| CN103241343A (en) * | 2012-02-02 | 2013-08-14 | 营口临潼维宁科技有限公司 | Intelligent self-driven remote-control and remote-measuring solar buoy |
| CN203798724U (en) * | 2014-03-05 | 2014-08-27 | 中国计量学院 | Optical fiber sensing-based buoy type water quality monitor |
| US20140283725A1 (en) * | 2011-11-01 | 2014-09-25 | Kasper Mayntz Paasch | Internally actuated autonomous sailing buoy |
| CN106773741A (en) * | 2017-03-02 | 2017-05-31 | 华南理工大学 | A kind of unmanned boat dynamic positioning system and method |
| CN107416137A (en) * | 2017-05-04 | 2017-12-01 | 江苏省船舶设计研究所有限公司 | A kind of small-sized light tender |
| CN108327853A (en) * | 2018-03-28 | 2018-07-27 | 国家海洋局第二海洋研究所 | A kind of buoy that can change investigation depth |
| CN208216935U (en) * | 2018-03-23 | 2018-12-11 | 湖北工业大学 | A kind of intelligent navigation mark system of cruiseway |
| CN209814229U (en) * | 2019-04-28 | 2019-12-20 | 闽江学院 | Beacon lamp ship with automatic shifting function |
-
2019
- 2019-04-28 CN CN201910351602.4A patent/CN110001885A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102501951A (en) * | 2011-10-28 | 2012-06-20 | 中国船舶重工集团公司第七一〇研究所 | Indicating navigation mark capable of automatically collecting, releasing and tying mooring rope along with changes of water level |
| US20140283725A1 (en) * | 2011-11-01 | 2014-09-25 | Kasper Mayntz Paasch | Internally actuated autonomous sailing buoy |
| CN103241343A (en) * | 2012-02-02 | 2013-08-14 | 营口临潼维宁科技有限公司 | Intelligent self-driven remote-control and remote-measuring solar buoy |
| CN202966600U (en) * | 2012-11-27 | 2013-06-05 | 深圳市顶创科技开发有限公司 | Intelligent cruising monitoring robot buoy |
| CN203798724U (en) * | 2014-03-05 | 2014-08-27 | 中国计量学院 | Optical fiber sensing-based buoy type water quality monitor |
| CN106773741A (en) * | 2017-03-02 | 2017-05-31 | 华南理工大学 | A kind of unmanned boat dynamic positioning system and method |
| CN107416137A (en) * | 2017-05-04 | 2017-12-01 | 江苏省船舶设计研究所有限公司 | A kind of small-sized light tender |
| CN208216935U (en) * | 2018-03-23 | 2018-12-11 | 湖北工业大学 | A kind of intelligent navigation mark system of cruiseway |
| CN108327853A (en) * | 2018-03-28 | 2018-07-27 | 国家海洋局第二海洋研究所 | A kind of buoy that can change investigation depth |
| CN209814229U (en) * | 2019-04-28 | 2019-12-20 | 闽江学院 | Beacon lamp ship with automatic shifting function |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114488885A (en) * | 2022-01-12 | 2022-05-13 | 武汉理工大学 | Remote control system and method for ship deck equipment |
| CN114488885B (en) * | 2022-01-12 | 2023-09-26 | 武汉理工大学 | Remote control system and method for ship deck equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108563242B (en) | A kind of air-sea, which independently cooperates with, searches and rescues M3U platform | |
| CN102589531B (en) | Underwater topography measurement boat as well as manufacturing method and measurement method | |
| CN105947142B (en) | A kind of unmanned sailing device on water | |
| CN101776676A (en) | On-line integrated monitoring buoy for movable water body | |
| CN203593143U (en) | Wind-solar complementary type unmanned ocean monitoring boat | |
| CN201681308U (en) | Automatic steering gear | |
| CN201532580U (en) | Low power consumption control system for underwater glider | |
| CN202582544U (en) | Underwater topography surveying vessel | |
| CN109582028A (en) | A kind of automatic obstacle avoiding sailing boat robot system based on APP terminal monitoring | |
| WO2019129085A1 (en) | Flight control system, unmanned aerial vehicle, and unmanned aerial vehicle system | |
| CN107878669B (en) | The wisdom water surface monitors trimaran | |
| CN106950962A (en) | A kind of unmanned boat dcs | |
| CN106444767A (en) | Linkage-combined automatic navigation unmanned ship control system based on APM and I7 intelligent chip | |
| CN102201027A (en) | Navigation/flight control computer for unmanned aerial vehicle | |
| CN113716003B (en) | X-shaped rudder underwater vehicle and rudder clamp anti-sinking method thereof | |
| CN110001885A (en) | A kind of light vessel and its implementation of automatic shift | |
| CN209814229U (en) | Beacon lamp ship with automatic shifting function | |
| CN103935505B (en) | A kind of portable handheld box of Ship Dynamic Positioning Systems Based | |
| CN203812089U (en) | Unmanned boat with onboard wireless communication system | |
| Sauzé et al. | Long term power management in sailing robots | |
| CN113093737B (en) | Water-air amphibious omnibearing autonomous search and rescue warship team | |
| CN210592385U (en) | Unmanned autonomous underwater vehicle | |
| CN115119789A (en) | Unmanned culture ship system capable of autonomously learning and feeding and implementation method thereof | |
| CN202783754U (en) | Portable intelligent propelling system | |
| CN111731459A (en) | Control system for bionic flexible submersible |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |